IngaVS
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IngaVS
In the paper, we see that the safety corridor is a trapezoid，and the slope is about s(t),how to generate the inequality constraint?
timeToIndex function doesn't return the value. you can fix it by return idx int KinodynamicAstar::timeToIndex(double time) { int idx = floor((time - time_origin_) * inv_time_resolution_); return idx; }